road,identity,road
sidewalk,identity,sidewalk_pavement
building,identity,building
wall,identity,wall
fence,identity,fence
pole,identity,pole
traffic light,identity,traffic_light
traffic sign,identity,traffic_sign
vegetation,identity,vegetation
terrain,identity,terrain
sky,identity,sky
person,identity,person
car,identity,car
truck,identity,truck
bus,identity,bus
train,identity,train
motorcycle,identity,motorcycle
bicycle,identity,bicycle
rider,parent,rider_other
rider,parent,bicyclist
rider,parent,motorcyclist
